lcbw · lcbw · Jun 11, 2020 · Jun 11, 2020 · Jun 12, 2020 · Jun 13, 2020
diff --git a/.add_qt_ppa_bionic.sh b/.add_qt_ppa_bionic.sh
@@ -0,0 +1,4 @@
+#! /bin/bash
+add-apt-repository -y ppa:skycoder42/qt-modules
+apt-get update -qq
+apt-get install -y --no-install-recommends libqt5scxml-dev
diff --git a/.travis.yml b/.travis.yml
@@ -23,15 +23,12 @@ env:
 jobs:
   include:
     - os: linux
-      dist: bionic
+      dist: focal
       language: cpp
       env:
-      - ROS_DISTRO="dashing"
+      - ROS_DISTRO="noetic"
       - CLANG_FORMAT_CHECK=file
       - CLANG_FORMAT_VERSION=8
-      - AFTER_SCRIPT=""
-      - BADGE=clang-format
-      - ROSDEP_SKIP_KEYS="catkin roscpp"
       cache:
         directories:
           - $HOME/.ccache
@@ -40,16 +37,34 @@ jobs:
       dist: bionic
       language: cpp
       env:
-      - DOCKER_IMAGE=mpowelson/bionic-qt-ros:eloquent
-      - ROS_DISTRO="eloquent"
-      - NOT_TEST_BUILD=true
-      - BEFORE_INIT="apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654"
-      - BADGE=eloquent
-      - ROSDEP_SKIP_KEYS="catkin roscpp"
+      - ROS_DISTRO="melodic"
+      - BADGE="melodic"
+      - ROSDEP_SKIP_KEYS="cmake_common_scripts"
+      - DOCKER_IMAGE="ros:melodic"
+      - ADDITIONAL_DEBS="qt5-default qtdeclarative5-dev software-properties-common"
+      - BEFORE_INSTALL_UPSTREAM_DEPENDENCIES="./.add_qt_ppa_bionic.sh"
+      - UPSTREAM_WORKSPACE="dependencies.rosinstall"
+      - TARGET_CMAKE_ARGS="-DENABLE_TESTING=ON"
+      - AFTER_SCRIPT='cd "$target_ws/build/scxml_core" && ctest -V'
       cache:
         directories:
           - $HOME/.ccache
 
+    - os: linux
+      dist: focal
+      language: cpp
+      env:
+      - ROS_DISTRO="noetic"
+      - BADGE="noetic"
+      - ROSDEP_SKIP_KEYS="cmake_common_scripts"
+      - DOCKER_IMAGE="ros:noetic"
+      - ADDITIONAL_DEBS="qt5-default libqt5scxml5-dev libqt5scxml5-bin qtdeclarative5-dev"
+      - UPSTREAM_WORKSPACE="dependencies.rosinstall"
+      - TARGET_CMAKE_ARGS="-DENABLE_TESTING=ON"
+      - AFTER_SCRIPT='cd "$target_ws/build/scxml_core" && ctest -V'
+      cache:
+        directories:
+          - $HOME/.ccache
 
 install:
   - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master

diff --git a/README.md b/README.md
@@ -9,143 +9,41 @@ Lightweight finite state machine library that uses the [SCXML](https://commons.a
 ---
 ## Prerequisites
 ### QT 5
-  The QScxml library is only available from version Qt 5.7 and up, this implementation currently uses Qt 5.12.2 which
-  can be downloaded from [here](http://download.qt.io/official_releases/qt/5.12/5.12.2/).  Run the instalation script 
-  with root access and follow the on screen instructions.
-  In order properly configure this library for cmake and so that it can be used as a shared library then the `PATH` and `LD_LIBRARY_PATH` 
-  must be set.  For instance if you installed QT in the `/opt/QT` system directory then you would add set the variables as follows:
-  ```
-  export PATH="/opt/Qt/5.12.2/gcc_64/lib/cmake:$PATH"
-  export LD_LIBRARY_PATH=/opt/Qt/5.12.2/gcc_64/lib:$LD_LIBRARY_PATH
-  ```
-
----
-## Demo program
-### Description
-The `demo_scxml_state_machine` ROS node shows how to use the State Machine library with ROS and process specific code.  A key part of this code is in the section that adds custom functions which get invoked when specific states are entered or exited; inspect this section in order to understand how this is accomplished:
-```cpp
-  // adding application methods to SM
-  MockApplication process_app(nh);
-  bool success = false;
-  std::vector< std::function<bool ()> > functions = {
-
-    // custom function invoked when the "st3Reseting" state is entered
-    [&]() -> bool{
-      return sm->addEntryCallback("st3Reseting",[&](const Action& action) -> Response{
-        process_app.resetProcess();
-        ros::Duration(3.0).sleep();
-        // queuing action, should exit the state
-        sm->postAction(Action{.id="trIdle"});
-        return true;
-      },false); // false = runs sequentially, use for non-blocking functions
-    },
-
-    // custom function invoked when the "st3Execute" state is entered
-    [&]() -> bool{
-      return sm->addEntryCallback("st3Execute",[&process_app](const Action& action) -> Response{
-        return process_app.executeProcess();
-      },true); // true = runs asynchronously, use for blocking functions
-    },
-
-    // custom function invoked when the "st3Execute" state is exited
-    [&]() -> bool{
-      return sm->addExitCallback("st3Execute",[&process_app](){
-        process_app.haltProcess();
-      });
-    },
-
-    // custom function invoked when the "st2Clearing" state is entered, it will exit after waiting for 3 seconds
-    [&]() -> bool{
-      return sm->addEntryCallback("st2Clearing",[&](const Action& action) -> Response{
-        ROS_INFO("Clearing to enable process, please wait ...");
-        ros::Duration(3.0).sleep();
-        ROS_INFO("Done Clearing");
-
-        // queuing action, should exit the state
-        sm->postAction(Action{.id="trStopped"});
-        return true;
-      }, true); // true = runs asynchronously, use for blocking functions
-    }
-  };
+The `QScxml` module is available from `Qt` version 5.7 and higher and is currently only distributed on Ubuntu 20.04. If your distribution or version of `Qt` does not have the `QScxml` module there are several options for getting it:
+
+#### Qt Modules PPA (Recommended)
+[This PPA](https://launchpad.net/~skycoder42/+archive/ubuntu/qt-modules) provides binary distributions of the `QScxml` module for Ubuntu 17.10 and 18.04.
+These binaries install to the standard install directory and should be the same sub-version as the other `Qt` modules for the distribution.
+This the most straightforward solution for Ubuntu 17.10/18.04.
+To install, run:
+
+```bash
+sudo add-apt-repository ppa:beineri/ppa:skycoder42/qt-modules
+sudo apt update
+sudo apt install libqt5scxml-dev
 ```
 
----
-### Workspace Setup
-#### catkin (ROS1)
-
-1. Build the workspace
-    ```
-    catkin build
-    ```
-
-#### colcon (ROS2)	
-1. Build colcon environment
-	  ```
-	  colcon build --symlink-install
-	  ```
----
-### RUN Demo
-#### ROS 1
-1. Start the roscore
-2. Go to the resource directory:
-    ```
-    roscd ros_scxml/resource/
-    ```
-3. Open the **demo_packml_sm.scxml** file with QTCreator to display a graphical depiction of the SM workflow.
-4. Run the node with the demo scxml file:
-    ```
-   rosrun ros_scxml demo_scxml_state_machine _state_machine_file:=demo_packml_sm.scxml
-    ```
-5. Echo the current state:
-    ```
-    rostopic echo /current_state
-    ```
-6. Call the service to print the available actions at the current state:
-    ```
-    rosservice call /print_actions "{}" 
-    ```
-
-    The SM terminal should display something as follows:
-    ```
-    SM Actions: 
-	    -userClear
-	    -trAborted
-    ```
-    This means that the actions available at the current state are **trAborted** and **userClear**
-7. Publish an action from the list to the state machine, for instance the **userClear** action will be requested as follows:
-    ```
-    rostopic pub -1 /execute_state std_msgs/String "data: 'userClear'" 
-    ```
-
-    This should cause the state machine to go into the **st2Clearing** state.  A few seconds after that it should go into the **st2Stopped** state as the custom entry callback function automatically posts an action.
-
-8. Repeat steps 6 and 7 to experiment with other states and actions, use the SM graph shown in QTCreator to verify the workflow.
-9. Additionally, the SM will publish a message to the **/process_msg** topic only when it's in the **st3Execute** state.  When the SM is in that state echo the topic as follows:
-    ```
-    rostopic echo /process_msg
-    ```
-
-#### ROS 2
+#### `/opt` Directory Qt Install (PPA)
+[This PPA](https://launchpad.net/~beineri) provides binary distributions of various versions of Qt for various operating systems.
+These binaries install to the `/opt` directory, which is not a standard search path for `cmake`.
+As such, several build and run environment variables need to be modified in order to use this distribution of `Qt`.
+Installing a version of `Qt` from this PPA alongside the system installation can also cause version tagging issues when compiling code that depends on `Qt`.
+To install, run:
+
+```bash
+sudo add-apt-repository ppa:beineri/opt-qt-5.12.10-bionic
+sudo apt-get update
+sudo apt install qt512scxml
+```
+> Note: Edit command above for your desired version of `Qt`
 
-1. From the *rclcpp_scxml_demos* directory run the demo node as follows
-    ```
-    ros2 run rclcpp_scxml_demos demo_scxml_state_machine __params:=resource/params.yaml
-    ```
-2. From another terminal echo the current state
-    ```
-    ros2 topic echo /current_state 
-    ```
-  You should get the name of the current state printed in the terminal
+In order to make this installation find-able to `cmake`, several environment variables must be set.
+Locate your Qt installation directory in the `/opt` directory and set the environment variables as follows:
 
-3. Print current actions
-    ```
-    ros2 service call /print_actions std_srvs/srv/Trigger
-    ```
-  In the node terminal you should see a list of available actions within the current state
+```bash
+export CMAKE_PREFIX_PATH=/opt/qt<version>/lib/cmake:$CMAKE_PREFIX_PATH
+export LD_LIBRARY_PATH=/opt/qt<version>/lib:/opt/qt<version>/plugins:$LD_LIBRARY_PATH
+```
 
-4. Execute action
-    ```
-    ros2 topic pub -1 /execute_action std_msgs/msg/String '{data: trAborted}'
-    ```
-  If the action is valid you should see the following confirmation message in the node terminal 
-  *"Action trAborted successfully executed"*
+#### Alternative Download (Qt Installer)
+The library can be downloaded from [here](http://download.qt.io/official_releases/qt/).  Run the installation script with root access and follow the on screen instructions.
diff --git a/demo_sm.png b/demo_sm.png
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -0,0 +1,4 @@
+- git:
+    local-name: 'ros_industrial_cmake_boilerplate'
+    uri: 'https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git'
+    version: 0.2.9
diff --git a/rclcpp_scxml_demos/CMakeLists.txt b/rclcpp_scxml_demos/CMakeLists.txt
diff --git a/rclcpp_scxml_demos/package.xml b/rclcpp_scxml_demos/package.xml
diff --git a/rclcpp_scxml_demos/resource/params.yaml b/rclcpp_scxml_demos/resource/params.yaml